Unibody Package Case 344-15

The following video shows how to run the FRDM 6DOF Bare Board eCompass using the FRDM-K22. This algorithm uses the FXOS8700 contained on the Freedom Board. In order to get more information about the Sensor Fusion Library for Kinetis MCU's 5.0, please refer to the following link: Sensor Fusion|Freescale I hope this material will be useful for you. David

Hi Everyone, In my previous tutorial, I demonstrated how to import an ISSDK based example project into MCUXpresso IDE, build and run it on the Freedom board (FRDM-KL27Z). If you want to visualize/log sensor data, easily change sensor settings (ODR, Range, Power Mode) or directly read and write sensor registers, you can use the Freedom Sensor Toolbox-Community Edition (STB-CE) as described below or in the STBCEUG. 1. Connect the SDA port (J13) on the FRDM-KL27Z board to a USB port on your computer. 2. Open STB-CE GUI by double clicking the Freedom Sensor Toolbox (CE) shortcut located on your desktop. 3. Select "Out of Box Sensor Demonstration". 4. Select the Project to be launched and click on Continue. Base Board Name – FRDM-KL27Z Shield Board Name – OnBoard Project Name – MMA8451 Accelerometer Demo 5. The ISSDK-based MMA8451 Accelerometer Demo firmware is loaded to the KL27Z MCU and the MMA8451 Accelerometer Demo v1.0 GUI launched. 6. In the Main screen you can change basic MMA8451Q accelerometer settings (ODR, Range, Power Mode), enable embedded functions (Landsacpe/Portrait, Pulse/Tap, Freefall, Transient), start/stop accelerometer data streaming and/or logging.   7. The Register screen (MMA8451) provides low-level access (R/W) to the MMA8451Q registers along with a detailed description of the selected register. 8. To change the bit value, simply click on the corresponding cell (make sure you selected the Standby mode before writing a new value to the selected register). I hope you find this simple document useful. f there are any questions, please feel free to ask below.  Regards, Tomas

Unibody Package with Side Port_867B-04  

This this shows how to implement the power cycling feature described in Section 4.8, Fusion Standby mode, of the Version 7.00 Sensor Fusion User Guide.  It will power down the gyro when the board is stationary, and also suspend sensor fusion.   Last computed results continue to be sent until new motion is detected.  One nice side effect is that 6-axis yaw drift is almost eliminated.

The attached is a preview copy of build 422 of the sensor fusion library, which is currently being tested by the Freescale Sensor's team. Please consult the docs/Release_Notes.txt file for changes from build 420, as well as known errata. This version is released under the following license:   Freescale Sensor Fusion Library for Kinetis MCUs IMPORTANT. Read the following Freescale Software License Agreement (“Agreement”) completely.  By downloading this file, you indicate that you accept the terms of this Agreement and you also acknowledge that you have the authority, on behalf of your company, to bind your company to such terms.  You may then download or install the file. FREESCALE END-USER SOFTWARE LICENSE AGREEMENT Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:     * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.     * Redistributions in binary form must reproduce the above copyright  notice, this list of conditions and the following disclaimer in the  documentation and/or other materials provided with the distribution.     * Neither the name of Freescale Semiconductor, Inc. nor the  names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FREESCALE SEMICONDUCTOR, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. © 2004-2014 Freescale Semiconductor, Inc. All rights reserved.

The FXLS8471Q Freescale accelerometer is highly versatile for industrial and consumer high-performance low-g applications that offer noise density, board mount offset, temperature performance and sensitivity. Integrated motion detection features include tilt, shake and tap detection with a new vector magnitude output that simplifies implementation and reduces power consumption. This new FXLS8471Q accelerometer has a SPI interface that is pin-compatible with Freescale’s industry-leading I2C accelerometer portfolio. Here is a Render of the FXLS8471 Breakout- Board downloaded from OSH Park: And here is an image of the Layout Design for this board: In the Attachments section, you can find the Schematic Source File (.SCH), Schematic PDF File, Layout Source File (BRD), Gerber Files (GTL, GBL, GTS, GBS, GTO, GBO, GKO, XLN) and BOM for this Breakout-board. If you are interested in more designs like this breakout board for other sensors, please go to Freescale Sensors Breakout Boards Designs – HOME

     The MC12311 is a highly-integrated, cost-effective, system-in-package (SIP), sub-1GHz wireless node solution with an FSK, GFSK, MSK, or OOK modulation-capable transceiver and low-power HCS08 8-bit microcontroller. The highly integrated RF transceiver operates over a wide frequency range including 315 MHz, 433 MHz, 470 MHz, 868 MHz, 915 MHz, 928 MHz, and 955 MHz in the license-free Industrial, Scientific and Medical (ISM) frequency bands.      The MPXY8600 is a sensor for use in applications that monitor tire pressure and temperature. It contains the pressure and temperature sensors, an X-axis and a Z-axis accelerometer, a microcontroller, an LF receiver and an RF transmitter all within a single package.      This document offer customers to utilize Freescale MPXY8600 as transmitter and MC12311 as receiver to form 315MHz, 433.92MHz TPMS transmitter and receiver solution.

All, This is my personal "cheat sheet" that I use as reference whenever I have to code angular transformations from one frame of reference to another.  There's nothing unique here, it just organizes things in a way that I can find them quickly.  I hope you find it useful. Mike

The MMA845xQ is a smart low-power, three-axis capacitive micromachined accelerometer up to 14 bits of resolution. This accelerometer is packed with embedded functions with flexible user-programmable options, configurable to two interrupt pins. Embedded interrupt functions allow for overall power savings relieving the host processor from continuously polling data. There is access to both low-pass filtered data as well as high-pass filtered data, which minimizes the data analysis required for jolt detection and faster transitions. The device can be configured to generate inertial wake-up interrupt signals from any combination of the configurable embedded functions allowing the MMA845xQ to monitor events and remain in a low-power mode during periods of inactivity. Here is a Render of the MMA845x Breakout- Board downloaded from OSH Park: And here is an image of the Layout Design for this board: In the Attachments section, you can find the Schematic Source File (.SCH), Schematic PDF File, Layout Source File (BRD), Gerber Files (GTL, GBL, GTS, GBS, GTO, GBO, GKO, XLN) and BOM for this Breakout-board. If you are interested in more designs like this breakout board for other sensors, please go to Freescale Sensors Breakout Boards Designs – HOME

The FXLN83XX is a 3-axis, low-power, low-g accelerometer along with a CMOS signal conditioning and control ASIC in a small 3 x 3 x 1 mm QFN package. The analog outputs for the X, Y, and Z axes are internally compensated for zero-g offset and sensitivity, and then buffered to the output pads. The outputs have a fixed 0 g offset of 0.75 V, irrespective of the VDD supply voltage. The bandwidth of the output signal for each axis may be independently set using external capacitors. The host can place the FXLN83XXQ into a low-current shutdown mode to conserve power. Here is a Render of the FXLN83XX Breakout Board downloaded from OSH park: Layout Design for this board: In the attachments section, you can find the Schematic Source File (SCH), Schematic PDF File, Layout Source File (BRD), Gerber Files (GTL, GBL, GTS, GBS, GTO, GBO, GKO, XLN) and BOM files.    If you're interested in more designs like this breakout board for other sensors, please go to Freescale Sensors Breakout Boards Designs – HOMEFreescale Sensors Breakout Boards Designs – HOME

The Freescale Freedom KL26Z hardware (FRDM-KL26Z) is a capable and cost-effective design featuring a Kinetis L series microcontroller, the industry’s first microcontroller built on the ARM® Cortex™-M0+ core. It features a KL26Z128VLH4 (KL26Z), a device boasting a maximum operating frequency of 48MHz, 128KB of flash. The FRDM-KL26Z features the Freescale open standard embedded serial and debug adapter known as OpenSDA. You can find more information at following link: FRDM-KL26Z: Freescale Freedom Development Platform for Kinetis KL16 and KL26 MCUs (up to 128 KB Flash) The second required board for this example is the Freescale's Freedom Development Platform for Multiple Xtrinsic Sensors, the FRDM-FXS-MULTI. It is a sensor expansion board that contains 7 sensors among which is the FXAS21000 Xtrinsic 3-axis gyroscopic sensors. This example is using above mentioned tools to create data acquisition system (DAQ) for acquiring angular rate data measured in deg/s from the FXAS21000 Xtrinsic 3-axis gyroscopic sensors (Gyro). For data logging and visualization of acquired data FreeMASTER tool is used. The output is in 3 directions of rotation. Around X direction is for the Roll (around longitudinal axis), around Y direction is for the Pitch (around the lateral axis) and around Z direction for the Yaw (around the vertical axis). The Gyro embedded registers are accessed through an I 2 C serial interface and routed to KL26Z I 2 C 1 module with following pin association. Precisely the 7-bit I 2 C slave address is 0x20 (SA0=0) and SCL1, SDA1 lines are routed to port C of the I 2 C 1 module at KL26Z board pins PTC1 and PTC2: Proper interrupt INT1_GYRO at J1-6 needs to be routed via jumper on J6 to INT_GYRO as shown in following block diagram since the interrupts are shared with other sensors: This is then handled as GPIO port A: PTA at the KL26Z board and configured for the falling edge interrupts. For more details see the schematics of the FRDM-FXS-MULTI block diagram. This example illustrates:    1.  Initialization of the KL26Z MCU (I 2 C and PORT modules).    2. Initialization of the Gyro to achieve the resolution 0.025 dsp/LSB with +/-200 dps range and a high-pass filter on.    3. Output data reading using an interrupt technique.    4. Conversion of the output values from registers 0x01 – 0x06 to real values in deg/s.    5. Visualization of the output values in the FreeMASTER tool. 1. According to the schematic, the INT1_GYRO output of the FXAS21000 is connected to the PTA5 pin of the KL26Z MCU and both SCL and SDA lines are connected to the I2C1 module (PTC1 and PTC2 pins). The MCU is, therefore, configured as follows:      void MCU_Init(void){              //I2C1 module initialisation         SIM_SCGC4 |= SIM_SCGC4_I2C1_MASK;       // Turn on clock to I2C1 module         SIM_SCGC5 |= SIM_SCGC5_PORTC_MASK;      // Turn on clock to Port C module         PORTC_PCR1 = PORT_PCR_MUX(2);           // PTC1 pin is I2C1 SCL1 line pin alternative         PORTC_PCR2 = PORT_PCR_MUX(2);           // PTC2 pin is I2C1 SDA1 line pin alternative         I2C1_F = 0x14; // SDA hold time = 2.125us, SCL start hold time = 4.25us, SCL stop hold time = 5.125us         I2C1_C1 = I2C_C1_IICEN_MASK;                    // Enable I2C1 module              //Configure the PTA5 pin (connected to the INT_GYRO of the FXAS21000) for falling edge interrupts         SIM_SCGC5 |= SIM_SCGC5_PORTA_MASK;      // Turn on clock to Port A module         PORTA_PCR5 |= (0|PORT_PCR_ISF_MASK|     // Clear the interrupt flag         PORT_PCR_MUX(0x1)|                      // PTA5 is configured as GPIO         PORT_PCR_IRQC(0xA));                    // PTA5 is configured for falling edge interrupts             //Enable PORTA interrupt on NVIC         NVIC_ICPR |= 1 << ((INT_PORTA - 16)%32);         NVIC_ISER |= 1 << ((INT_PORTA - 16)%32);      } 2. At the beginning of the initialization, all Gyro registers are reset to their default values by setting the RST bit of the CTRL_REG1 register. Also the ZR_cond in CTRL_REG1 to trigger the offset compensation is enabled and hold till ZR_cond offset compensation is accomplished. This is meant to be used only when the IC is in zero rate condition on all axes. Writing a '1' to this bit initiates the internal zero-rate offset calibration. The ZR_cond bit self-clears after the zero-rate offset calculation, and it can only be used once after a hard or soft reset has occurred. The measuring range of Gyro is set to ±200 dps and to achieve the highest resolution the ODR = 1.5625Hz (640ms) and the High-pass filter is enabled with H-P filter cutoff frq.:0.047 Hz.      void Gyro_Init (void){              unsigned char reg_val = 0;          I2C_WriteRegister(FXAS21_I2C_ADDRESS, CTRL_REG1, 0x40); // Reset all registers to POR values              do              // Wait for the RST bit to clear              {                 reg_val = I2C_ReadRegister(FXAS21_I2C_ADDRESS, CTRL_REG1) & 0x40;              } while (reg_val);         // Zero values initialisation ------------------------------------------------------------             //      I2C_WriteRegister(FXAS21_I2C_ADDRESS, CTRL_REG1, 0x80); // ZR_cond to trigger offset compensation             do      // wait till ZR_cond to trigger offset compensation accomplished          {           reg_val = I2C_ReadRegister(FXAS21_I2C_ADDRESS, CTRL_REG1) & 0x80;               } while (reg_val);             //----------------------------------------------------------------------------------------         I2C_WriteRegister(FXAS21_I2C_ADDRESS, CTRL_REG2, 0x0C); // Enable DRDY interrupt, DRDY interrupt routed to INT1 - PTA5, Push-pull, active low interrupt         I2C_WriteRegister(FXAS21_I2C_ADDRESS, CTRL_REG0, 0x17); // High-pass filter enabled, H-P filter cutoff frq.:0.047 Hz, +/-200 dps range -> 0.025 dsp/LSB = 40 LSB/dps         I2C_WriteRegister(FXAS21_I2C_ADDRESS, CTRL_REG1, 0x1E); // ODR = 1.5625Hz(640ms), Active mode      }      Below are the snap shots of write and read section of the registers from the instructions above.           3. In the ISR, only the interrupt flag is cleared and the DataReady variable is set to indicate the arrival of new data.      void PORTA_IRQHandler(){         PORTA_PCR5 |= PORT_PCR_ISF_MASK;                        // Clear the interrupt flag         DataReady = 1;       }      4. The output values from Gyro registers 0x01 – 0x06 are first converted to signed 14-bit values and afterwards to real values in deg/s.      while(1){              if (DataReady){                 // Is a new set of data ready?                               DataReady = 0;                                                                                                I2C_ReadMultiRegisters(FXAS21_I2C_ADDRESS, OUT_X_MSB_REG, 6, GyrData);  // Read data output registers 0x01-0x06              Xout_14_bit = ((short) (GyrData[0]<<8 | GyrData[1])) >> 2;// Compute 14-bit X-axis output value      Yout_14_bit = ((short) (GyrData[2]<<8 | GyrData[3])) >> 2;// Compute 14-bit Y-axis output value              Zout_14_bit = ((short) (GyrData[4]<<8 | GyrData[5])) >> 2;// Compute 14-bit Z-axis output value                                        Roll = ((float) (Xout_14_bit)) / SENGYR_025D;   // Compute X-axis output value in dps              Pitch = ((float) (Yout_14_bit)) / SENGYR_025D;  // Compute Y-axis output value in dps              Yaw = ((float) (Zout_14_bit)) / SENGYR_025D;    // Compute Z-axis output value in dps                                    Temperature on the Gyro is also read out from the TEMP register of the Gyro              Temp = (signed char) I2C_ReadRegister(FXAS21_I2C_ADDRESS, TEMP_REG);  // temperature on Gyro      5. The calculated values can be watched in the "(x)= Variables" window on the top right of the Debug perspective of the CodeWarrior IDE or in the FreeMASTER application.      To open and run the FreeMASTER project, install the FreeMASTER 1.4 application and FreeMASTER Communication Driver that can be downloaded from following link:      FREEMASTER: FreeMASTER Run-Time Debugging Tool      User Guide for FreeMASTER is available within the installation.      For board communication in FreeMASTER following Options of Plug-in Module needs to be selected and configured for the BDM P&E Kinetis cable settings:             FreeMASTER in action screenshot: Enjoy the Freescale Gyro.

Here's a zip file which incorporates the patch I outlined in my previous posting.

Unibody Package with Axial Single Port Case 867F-03

All, The attached was put together in response to the posting by Andrew Hartnett.  It contains a bare-metal IAR project for 9-axis sensor fusion V7.00 on the KL25Z.  You need to have built KSDK for the KL25Z to include the ISSDK option.  Then unzip this file into your SDK_2.0_FRDM-KL25Z/boards directory.  The sample project is then located at SDK_2.0_FRDM-KL25Z/boards/frdmkl25z_virtual_shield/issdk_examples/algorithms/sensorfusion/baremetal_sensor_fusion/iar. There is also an included freertos_sensor_fusion project.  Ignore that for now.  It compiles and links, but needs more RAM than the KL25Z supplies.  I'm looking at ways to decrease the RAM requirements to fit. Regards, Mike

SOP Axial Port Package_482A-01

Hi Everyone, In this article I would like to describe a simple bare-metal example code for the new Xtrinsic FXLS8471Q digital accelerometer. I have used recently released FRDM-FXS-MULTI(-B) sensor expansion board, that features many of the Xtrinsic sensors introduced in 2013 including the FXLS8471Q, in conjunction with the  Freescale FRDM-KL25Z development platform. The FreeMASTER tool is used to visualize the acceleration data that are read from the FXLS8471Q using an interrupt technique through the SPI interface. This example illustrates: 1. Initialization of the MKL25Z128 MCU (mainly SPI and PORT modules). 2. SPI data write and read operations. 3. Initialization of the accelerometer to achieve the highest resolution. 4. Simple offset calibration based on the AN4069. 5. Output data reading using an interrupt technique. 6. Conversion of the output values from registers 0x01 – 0x06 to real acceleration values in g’s. 7. Visualization of the output values in the FreeMASTER tool. 1. As you can see in the FRDM-FXS-MULTI(-B)/FRDM-KL25Z schematics and the image below, SPI signals are routed to the SPI0 module of the KL25Z MCU and the INT1 output is connected to the PTA5 pin (make sure that pins 2-3 of J6 on the sensor board are connected together using a jumper). The PTD0 pin (Chip select) is not controlled automatically by SPI0 module, hence it is configured as a general-purpose output. The INT1 output of the FXLS8471Q is configured as a push-pull active-low output, so the corresponding PTA5 pin configuration is GPIO with an interrupt on falling edge.The core/system clock frequency is 20.97 MHz and SPI clock is 524.25 kHz. The MCU is, therefore, configured as follows. void MCU_Init(void) {      //SPI0 module initialization      SIM_SCGC4 |= SIM_SCGC4_SPI0_MASK;        // Turn on clock to SPI0 module      SIM_SCGC5 |= SIM_SCGC5_PORTD_MASK;       // Turn on clock to Port D module      PORTD_PCR1 = PORT_PCR_MUX(0x02);         // PTD1 pin is SPI0 CLK line      PORTD_PCR2 = PORT_PCR_MUX(0x02);         // PTD2 pin is SPI0 MOSI line      PORTD_PCR3 = PORT_PCR_MUX(0x02);         // PTD3 pin is SPI0 MISO line      PORTD_PCR0 = PORT_PCR_MUX(0x01);         // PTD0 pin is configured as GPIO (CS line driven manually)      GPIOD_PSOR |= GPIO_PSOR_PTSO(0x01);      // PTD0 = 1 (CS inactive)      GPIOD_PDDR |= GPIO_PDDR_PDD(0x01);       // PTD0 pin is GPIO output          SPI0_C1 = SPI_C1_SPE_MASK | SPI_C1_MSTR_MASK;     // Enable SPI0 module, master mode      SPI0_BR = SPI_BR_SPPR(0x04) | SPI_BR_SPR(0x02);     // BaudRate = BusClock / ((SPPR+1) * 2^(SPR+1)) = 20970000 / ((4+1) * 2^(2+1)) = 524.25 kHz                        //Configure the PTA5 pin (connected to the INT1 of the FXLS8471Q) for falling edge interrupts      SIM_SCGC5 |= SIM_SCGC5_PORTA_MASK;       // Turn on clock to Port A module      PORTA_PCR5 |= (0|PORT_PCR_ISF_MASK|      // Clear the interrupt flag                       PORT_PCR_MUX(0x1)|      // PTA5 is configured as GPIO                       PORT_PCR_IRQC(0xA));    // PTA5 is configured for falling edge interrupts                 //Enable PORTA interrupt on NVIC      NVIC_ICPR |= 1 << ((INT_PORTA - 16) % 32);      NVIC_ISER |= 1 << ((INT_PORTA - 16) % 32); } 2. The FXLS8471Q uses the ‘Mode 0′ SPI protocol, which means that an inactive state of clock signal is low and data are captured on the leading edge of clock signal and changed on the falling edge. The falling edge on the SA1/CS_B pin starts the SPI communication. A write operation is initiated by transmitting a 1 for the R/W bit. Then the 8-bit register address, ADDR[7:0] is encoded in the first and second serialized bytes. Data to be written starts in the third serialized byte. The order of the bits is as follows: Byte 0: R/W, ADDR[6], ADDR[5], ADDR[4], ADDR[3], ADDR[2], ADDR[1], ADDR[0] Byte 1: ADDR[7], X, X, X, X, X, X, X Byte 2: DATA[7], DATA[6], DATA[5], DATA[4], DATA[3], DATA[2], DATA[1], DATA[0] The rising edge on the SA1/CS_B pin stops the SPI communication. Below is the write operation which writes the value 0x3D to the CTRL_REG1 (0x3A). Similarly a read operation is initiated by transmitting a 0 for the R/W bit. Then the 8-bit register address, ADDR[7:0] is encoded in the first and second serialized bytes. The data is read from the MISO pin (MSB first). The screenshot below shows the read operation which reads the correct value 0x6A from the WHO_AM_I register (0x0D). Multiple read operations are performed similar to single read except bytes are read in multiples of eight SCLK cycles. The register address is auto incremented so that every eighth next clock edges will latch the MSB of the next register. A burst read of 6 bytes from registers 0x01 to 0x06 is shown below. It also shows how the INT1 pin is automatically cleared by reading the acceleration output data. 3. At the beginning of the initialization, all accelerometer registers should be reset to their default values by setting the RST bit of the CTRL_REG2 register. However, the software reset does not work properly in SPI mode as described in Appendix A of the FXLS8471Q data sheet. Therefore the following piece of the code performing the software reset should not be used. Instead, I have shortened R46 on the FRDM-FXS-MULTI-B board to activate a hardware reset. The dynamic range is set to ±2g and to achieve the highest resolution, the LNOISE bit is set and the lowest ODR (1.56Hz) and the High Resolution mode are selected (more details in AN4075). The DRDY interrupt is enabled and routed to the INT1 interrupt pin that is configured to be a push-pull, active-low output. void FXLS8471Q_Init (void) {      unsigned char reg_val = 0;          /* The software reset does not work properly in SPI mode as described in Appendix A         of the FXLS8471Q data sheet. Therefore the following piece of the code is not used.         I have shortened R46 on the FRDM-FXS-MULTI-B board to activate a hardware reset. */          /*FXLS8471Q_WriteRegister(CTRL_REG2, 0x40);     // Reset all registers to POR values          Pause(0x631);     // ~1ms delay                 do       // Wait for the RST bit to clear      {           reg_val = FXLS8471Q_ReadRegister(CTRL_REG2) & 0x40;      } while (reg_val); */                FXLS8471Q_WriteRegister(XYZ_DATA_CFG_REG, 0x00);          // +/-2g range with ~0.244mg/LSB      FXLS8471Q_WriteRegister(CTRL_REG2, 0x02);            // High Resolution mode      FXLS8471Q_WriteRegister(CTRL_REG3, 0x00);            // Push-pull, active low interrupt      FXLS8471Q_WriteRegister(CTRL_REG4, 0x01);            // Enable DRDY interrupt      FXLS8471Q_WriteRegister(CTRL_REG5, 0x01);            // DRDY interrupt routed to INT1 - PTA5       FXLS8471Q_WriteRegister(CTRL_REG1, 0x3D);            // ODR = 1.56Hz, Reduced noise, Active mode           } 4. A simple offset calibration method is implemented according to the AN4069. void FXLS8471Q_Calibration (void) {      char Xoffset, Yoffset, Zoffset;            DataReady = 0;                while (!DataReady){}      // Is a first set of data ready?      DataReady = 0;            FXLS8471Q_WriteRegister(CTRL_REG1, 0x00);     // Standby mode                   FXLS8471Q_ReadMultiRegisters(OUT_X_MSB_REG, 6, AccData);     // Read data output registers 0x01-0x06                                                      Xout_14_bit = ((short) (AccData[0]<<8 | AccData[1])) >> 2;     // Compute 14-bit X-axis output value      Yout_14_bit = ((short) (AccData[2]<<8 | AccData[3])) >> 2;     // Compute 14-bit Y-axis output value      Zout_14_bit = ((short) (AccData[4]<<8 | AccData[5])) >> 2;     // Compute 14-bit Z-axis output value                                              Xoffset = Xout_14_bit / 8 * (-1);     // Compute X-axis offset correction value      Yoffset = Yout_14_bit / 8 * (-1);     // Compute Y-axis offset correction value      Zoffset = (Zout_14_bit - SENSITIVITY_2G) / 8 * (-1);     // Compute Z-axis offset correction value                                              FXLS8471Q_WriteRegister(OFF_X_REG, Xoffset);                FXLS8471Q_WriteRegister(OFF_Y_REG, Yoffset);         FXLS8471Q_WriteRegister(OFF_Z_REG, Zoffset);                   FXLS8471Q_WriteRegister(CTRL_REG1, 0x3D);     // Active mode again }      5. In the ISR, only the interrupt flag is cleared and the DataReady variable is set to indicate the arrival of new data. void PORTA_IRQHandler() {      PORTA_PCR5 |= PORT_PCR_ISF_MASK;     // Clear the interrupt flag      DataReady = 1;     } 6. The output values from accelerometer registers 0x01 – 0x06 are first converted to signed 14-bit values and afterwards to real values in g’s. if (DataReady)     // Is a new set of data ready? {                  DataReady = 0;                                                                                                                        FXLS8471Q_ReadMultiRegisters(OUT_X_MSB_REG, 6, AccData);     // Read data output registers 0x01-0x06                                                        Xout_14_bit = ((short) (AccData[0]<<8 | AccData[1])) >> 2;     // Compute 14-bit X-axis output value      Yout_14_bit = ((short) (AccData[2]<<8 | AccData[3])) >> 2;     // Compute 14-bit Y-axis output value      Zout_14_bit = ((short) (AccData[4]<<8 | AccData[5])) >> 2;     // Compute 14-bit Z-axis output value                                            Xout_g = ((float) Xout_14_bit) / SENSITIVITY_2G;     // Compute X-axis output value in g's      Yout_g = ((float) Yout_14_bit) / SENSITIVITY_2G;     // Compute Y-axis output value in g's      Zout_g = ((float) Zout_14_bit) / SENSITIVITY_2G;     // Compute Z-axis output value in g's } 7. The calculated values can be watched in the "Variables" window on the top right of the Debug perspective or in the FreeMASTER application. To open and run the FreeMASTER project, install the FreeMASTER 1.4 application and FreeMASTER Communication Driver. Attached you can find the complete source code written in the CW for MCU's v10.5 including the FreeMASTER project. If there are any questions regarding this simple application, please feel free to ask below. Your feedback or suggestions are also welcome. Regards, Tomas

Ever wondered about the pin styles for pressure sensors in their data sheets? Well then here are some useful notes. The difference between style 1 and style 2 in the package dimensions is due to the two main families of pressure sensors Freescale offers. Style 1 is usually applicable for all MPXx10, MPXx53 and MPXx2000-series SOP Type package pressure sensors featuring differential outputs. Style 2 is applicable for all MPXx4000-series, MPXx5000-series, MPXx6000-series, MPXx7000-series integrated devices in surface mount packages featuring single ended outputs. E.g. for MPXV7002DP case no. 1351-01 SMALL OUTLINE PACKAGE

Reading and Writing to SD Card Description: A small project made with mbed (mbed.org) on the FRDM-MK64 using the SD card capabilities. The program will open a file called test.txt in the root of the SD card, and will create one if it does not exist. It will then write "one two three four five" in the .txt file. It will then read the text and output the result. You will need a terminal application (I recommend Termite) in order to see the outputs. The current program overwrites anything that was previous on the SD card. To prevent this, change the "w" to "a" during the writing process. This changes the instruction from a 'write' to an 'append'. This should be compatible with all boards that have an SD card connected. However the appropriate pins from SDFileSystem will have to be changed to suit the board. Check your board's schematic for the appropriate pins.

Attached is an LPCExpresso project for LPC1549.  It is compatible with the latest version of the Sensor Fusion Toolbox for Windows (the version targeted at Version 6.00 and 7.00 sensor fusion).  This project is a variant on the Sensor Fusion Version 6.00 library.  Algorithmically this is virtually identical to Version 7.00.